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1. WO2020066949 - ROBOT PATH DETERMINATION DEVICE, ROBOT PATH DETERMINATION METHOD, AND PROGRAM

Publication Number WO/2020/066949
Publication Date 02.04.2020
International Application No. PCT/JP2019/037124
International Filing Date 20.09.2019
IPC
B25J 9/22 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
B25J 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
G05B 19/4093 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
CPC
B25J 19/06
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
G05B 19/4093
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
Applicants
  • 日本電産株式会社 NIDEC CORPORATION [JP]/[JP]
Inventors
  • ドアン タン ナット DOAN,Thanh Nhat
  • 吉田 昌弘 YOSHIDA,Masahiro
  • 小菅 昌克 KOSUGA,Masakatsu
  • 常田 晴弘 TSUNETA,Haruhiro
Priority Data
2018-17992426.09.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT PATH DETERMINATION DEVICE, ROBOT PATH DETERMINATION METHOD, AND PROGRAM
(FR) DISPOSITIF DE DÉTERMINATION DE TRAJET DE ROBOT, PROCÉDÉ DE DÉTERMINATION DE TRAJET DE ROBOT ET PROGRAMME
(JA) ロボットの経路決定装置、ロボットの経路決定方法、プログラム
Abstract
(EN)
One embodiment of the present invention is a robot path determination device provided with: a data creation unit that, for three-dimensional data of a robot, peripherally-arranged objects, and the like, disposes one or more spheres so as to create approximate-shape data of the three-dimensional data; an interference determination unit that determines whether or not interference of the approximate-shape data occurs when the robot is moved; a candidate point setting unit that, when it is determined that interference is to occur, sets a plurality of candidate points serving as candidates for passing points through which the robot passes, on the surface of a spherical body having a larger diameter than the spherical body at which interference is to occur, in the approximate-shape data; a candidate point specification unit that specifies, from among the plurality of candidate points, candidate points at which interference of the approximate-shape data occurs neither in a path from a start point to each candidate point nor in a path from the candidate point to an end point; and a display control unit that performs display such that a passing point can be selected from among the specified candidate points.
(FR)
Un mode de réalisation de la présente invention concerne un dispositif de détermination de trajet de robot comprenant : une unité de création de données qui, pour des données tridimensionnelles d'un robot, des objets disposés de manière périphérique et analogues, dispose une ou plusieurs sphères de façon à créer des données de forme approximative des données tridimensionnelles ; une unité de détermination d'interférence qui détermine si des interférences des données de forme approximative se produisent ou non lorsque le robot est déplacé ; une unité de définition de point candidat qui, lorsqu'il est déterminé qu'une interférence doit se produire, définit une pluralité de points candidats servant de candidats pour des points de passage à travers lesquels passe le robot, sur la surface d'un corps sphérique ayant un diamètre plus grand que le corps sphérique au niveau duquel l'interférence doit se produire, dans les données de forme approximative ; une unité de spécification de point candidat qui spécifie, parmi la pluralité de points candidats, des points candidats auxquels l'interférence des données de forme approximative se produit ni dans un trajet allant d'un point de départ à chaque point candidat, ni dans un trajet allant du point candidat à un point d'extrémité ; et une unité de commande d'affichage qui effectue un affichage de telle sorte qu'un point de passage puisse être sélectionné parmi les points candidats spécifiés.
(JA)
本発明の一実施形態は、ロボットや周辺配置物等の3次元データを、1または複数の球体を配置することで当該3次元データの近似形状データを作成するデータ作成部と、ロボットを移動させたときに近似形状データの干渉が発生するか否かを判定する干渉判定部と、干渉が発生すると判定された場合、近似形状データのうち干渉が発生した球体より大径の球体の表面上に、ロボットが経由する経由点の候補となる複数の候補点を設定する候補点設定部と、始点から候補点までの経路、および、候補点から終点までの経路において近似形状データの干渉が発生しない候補点を、複数の候補点の中から特定する候補点特定部と、特定された候補点から経由点を選択可能となるように表示する表示制御部と、を備えたロボットの経路決定装置である。
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